JP2022021826A - Distance measuring device - Google Patents

Abstract

To provide a technique that prevents a plurality of distance measuring units of which measurement regions are partially overlapped with each other to make a wrong measurement of a distance to an object.SOLUTION: A control unit controls the timing t when a distance measuring unit 10B starts scanning a laser beam to the timing when a distance measuring unit 10A starts scanning a laser beam, to be in the range of -Φ≤t≤β. Φ denotes a period of time necessary to move by rotation by the angle formed by a start direction SA of scanning the laser beam by the distance measuring unit 10A and a start direction SB of scanning the laser beam by the distance measuring unit 10B at a predetermined distance measuring rate. β denotes a non-measurement period of time of the distance measuring unit 10B.SELECTED DRAWING: Figure 11

Description

The present disclosure relates to a distance measuring device.

A rider device that measures a distance to an object based on the reflected light of a laser beam is known. The rider device changes the irradiation direction of the laser light to be irradiated by rotating or swinging the deflection member, scans the laser light within a predetermined ranging region, and reflects light received from the same direction as the irradiation direction. Performs distance measurement processing that measures the distance to an object existing in the irradiation direction based on light.

Patent Document 1 describes a technique of mounting a rider device on a vehicle and measuring the distance to an object existing around the vehicle.

U.S. Patent Application Publication No. 2019/0011544

It is conceivable that by arranging a plurality of ranging units for executing the ranging process so that a part of the ranging area overlaps with each other, it is possible to detect an object in a wide range without omission.
However, as a result of detailed examination by the inventor, the laser beam emitted by one of the plurality of distance measuring units is reflected by an object existing in the overlapping portion of the distance measuring region, and is reflected by another distance measuring unit. A problem has been found in which the distance to an object may be erroneously measured when light is received.

One aspect of the present disclosure provides a technique for suppressing erroneous measurement of the distance to an object by a plurality of ranging units in which a part of the ranging area overlaps with each other.

One aspect of the present disclosure is a distance measuring device, which includes a plurality of distance measuring units (10A, 10B, 10F, 10L, 10R) and a control unit (20). The control unit is configured to control a plurality of distance measuring units. Each of the plurality of ranging units is provided with a deflecting member that deflects the laser beam, and by rotating or swinging the deflecting member, the irradiation direction of the irradiated laser beam is changed and the laser beam is emitted within a predetermined ranging area. Is configured to be capable of performing distance measurement processing, which measures the distance to an object existing in the irradiation direction based on the reflected light received from the same direction as the irradiation direction. The plurality of ranging units include a first ranging unit and a second ranging unit in which a part of the ranging area overlaps with each other. The control unit includes a first passing region, which is a region through which the laser light emitted by the first ranging unit passes, and a second passing region, which is a region through which the laser light emitted by the second ranging unit passes. The range-finding process by the first range-finding unit and the range-finding process by the second range-finding unit are executed in parallel so that the light does not interfere with each other in the range-finding area.

According to such a configuration, it is possible to prevent the distance to the object from being erroneously measured by a plurality of ranging units in which a part of the ranging area overlaps with each other.

It is a figure which shows the arrangement of the distance measuring part in a vehicle. It is a block diagram which shows the structure of a distance measuring device. It is a perspective view which shows the structure of the distance measuring part schematically. It is a figure which shows the periodic change of the rotation angle of a deflection member. It is a figure which shows the rotational movement direction of a deflection member. It is a figure which shows the state which the passing area of the laser beam irradiated by a plurality of distance measuring parts interferes in a distance measuring area. It is a figure which shows the state which the object boundary surface exists in the region which interferes with the passing region of the laser beam which is radiated by a plurality of ranging parts. It is a figure which shows the state which received the reflected light of the laser beam which was radiated by another ranging part. It is a figure which shows the ranging area of two ranging parts. It is a figure which shows the condition of the start timing according to the arrangement relation of two distance measuring parts. It is a figure which shows the arrangement relation of each distance measuring part in the 1st arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the 1st arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the other example of the 1st arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in the 2nd arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the 2nd arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in the 3rd arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the 3rd arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in the other example of the 3rd arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the other example of the 3rd arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in 4th arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in 4th arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in the other example of the 4th arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the other example of the 4th arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in the 5th arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the 5th arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in 6th arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in 6th arrangement example. It is a figure which shows the arrangement relation of each distance measuring part in the other example of the 6th arrangement example. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in the other example of the 6th arrangement example. It is a figure which shows the change of the current when the scanning timing of a plurality of ranging parts is not dispersed. It is a figure which shows the change of the current when the scanning timing of a plurality of ranging parts is dispersed. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part in 2nd Embodiment. It is a figure which shows the state which each distance measuring part is arranged side by side along the direction of the rotation axis of a deflection member. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part when the waveform is a sine wave. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part when the type of a waveform is different from each other. It is a figure which shows the change of the rotation angle of the deflection member of each distance measuring part when there is no periodicity in rotation movement.

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings.
[1. First Embodiment]
[1-1. overall structure]
As shown in FIGS. 1 and 2, the distance measuring device 1 of the present embodiment is a device mounted on the vehicle 100 and measuring the distance to an object existing on the front side in the vicinity of the vehicle 100. The ranging device 1 includes three ranging units, specifically, a right ranging unit 10R, a front ranging unit 10F, a left ranging unit 10L, and a control unit 20.

Each of the right ranging unit 10R, the front ranging unit 10F, and the left ranging unit 10L changes the irradiation direction of the laser beam to be irradiated by rotating or swinging the deflection member 13, which will be described later, to perform predetermined ranging. It is configured to be capable of performing ranging processing, which scans the laser beam in the region and measures the distance to an object existing in the irradiation direction based on the reflected light received from the same direction as the irradiation direction.

The range-finding area is a range for detecting an object defined by design, and is specified by, for example, an angle range in which the laser beam is scanned during the range-finding period and the longest distance that allows the detection of the object. ..

The right ranging unit 10R is configured to scan the laser beam within the ranging region on the right front side of the vehicle 100. The front ranging unit 10F is configured to scan the laser beam within the ranging region in front of the vehicle 100. The left ranging unit 10L is configured to scan the laser beam in the ranging region on the left front side of the vehicle 100. Each ranging unit is arranged so that a part of the ranging area overlaps with other ranging units arranged adjacent to each other. In the present embodiment, the right ranging unit 10R and the left ranging unit 10L are arranged so that the front ranging unit 10F and a part of the ranging region overlap each other.

[1-2. Configuration of distance measuring unit]
The right ranging unit 10R, the front ranging unit 10F, and the left ranging unit 10L have the same basic configuration. The configuration of each ranging unit will be described with reference to FIG.

Each ranging unit includes a light projecting unit 11, a driving unit 12, a deflection member 13, and a light receiving unit 14.
The light projecting unit 11 is a light source for irradiating a laser beam. The laser beam of this embodiment is a pulsed laser beam. The light projecting unit 11 is configured to irradiate the deflection member 13 with a laser beam according to an instruction from the control unit 20.

The drive unit 12 is an actuator for rotating or swinging the deflection member 13. The drive unit 12 includes a rod-shaped shaft member 12a, and rotates or swings the shaft member 12a. In the present embodiment, the drive unit 12 is a motor that swings the shaft member 12a. The rotation timing, rotation movement direction, and angular velocity of the shaft member 12a are controlled by the control unit 20.

The deflection member 13 is a deflection member for deflecting the laser beam. In this embodiment, the deflection member 13 is a mirror. The deflection member 13 is fixed to the shaft member 12a of the drive unit 12 and swings together with the shaft member 12a. When the deflection member 13 swings, the laser beam emitted by the light projecting unit 11 is deflected by the deflection member 13 in a direction corresponding to the rotation angle thereof, and is scanned in the ranging region. Further, the reflected light reflected by the object existing in the distance measuring region of the scanned laser light is deflected in the direction corresponding to the rotation angle by the deflection member 13, and is received by the light receiving unit 14.

The light receiving unit 14 is a sensor for receiving laser light. The light receiving unit 14 is provided at a position where the reflected light received from the same direction as the irradiation direction of the laser light scanned by the deflection member 13 is deflected by the deflection member 13 and incident. The light receiving unit 14 converts the received laser light into an electric signal and outputs it to the control unit 20.

[1-3. Control unit configuration]
The control unit 20 shown in FIG. 2 is an electronic control device mainly composed of a well-known microcomputer provided with a CPU, ROM, and RAM (not shown). The CPU executes a program stored in ROM, which is a non-transitional substantive recording medium. When the program is executed, the method corresponding to the program is executed. The control unit 20 may include one microcomputer or a plurality of microcomputers. Further, the method for realizing the functions of the control unit 20 is not limited to software, and some or all of the functions may be realized by using one or a plurality of hardware. For example, when the above function is realized by an electronic circuit which is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.

The control unit 20 controls the right range-finding unit 10R, the front range-finding unit 10F, and the left range-finding unit 10L, and measures the distance to an object existing around the vehicle 100. In FIG. 4, the horizontal axis indicates time, and the vertical axis indicates the rotation angle of the deflection member 13 with the center of the swing angle range of the deflection member 13 as 0. The period in which the deflection member 13 swings is the period in which the distance is measured by the distance measuring unit. Hereinafter, the cycle in which the distance is measured is also referred to as a distance measurement cycle. Further, the period in which the distance is measured in the distance measurement cycle is also referred to as a distance measurement period, and the period in which the distance is not measured is also referred to as a non-distance measurement period. In the present embodiment, in order to increase the ratio of the ranging period in the ranging cycle, the ranging unit controls the angular velocity of the deflection member 13 in the non-ranging period to be faster than the angular velocity of the deflection member 13 in the ranging period. Will be done. The angular velocity of the deflection member 13 during the ranging period is also referred to as the ranging angular velocity. In FIG. 5, the rotational movement direction R1 of the deflection member 13 during the ranging period and the rotational movement direction R2 of the deflection member 13 during the non-distance measuring period are indicated by arrows. In the example of FIG. 5, the direction in which the ranging unit scans the laser beam is the direction from left to right in FIG. In the present embodiment, in order to avoid complicating the explanation, the entire period during which the deflection member 13 is rotating in the rotational movement direction R1 is defined as the distance measuring period. Hereinafter, the direction in which the distance measuring unit scans the laser beam is also referred to as a scanning direction.

In the present embodiment, the control unit 20 executes distance measurement processing by each distance measurement unit so that the scanning direction, the distance measurement cycle, and the distance measurement angular velocity are the same. That is, the distance measuring process by each distance measuring unit is executed so that the laser beam is periodically scanned in a certain direction at a predetermined angular velocity. Specifically, the deflection member 13 swings at a constant cycle, and the laser beam is irradiated from the light projecting unit 11 to the deflection member 13 during a period in which the deflection member 13 rotates and moves in a certain direction. In other words, the laser beam is not emitted from the light projecting unit 11 to the deflection member 13 during the period in which the deflection member 13 rotates and moves in a direction opposite to a certain direction.

[1-4. Configuration to suppress erroneous measurement due to overlapping ranging areas]
As described above, each ranging unit is arranged so that a part of the ranging area overlaps with each other. This is to eliminate the blind spot area and enable the detection of an object without omission. However, in such a configuration, the laser beam emitted by one of the plurality of distance measuring units is reflected by an object existing in the overlapping portion of the distance measuring region and received by another distance measuring unit. As a result, the distance to the object may be measured incorrectly.

The present inventor has found that erroneous distance measurement occurs when the following three conditions are met.
First condition: As illustrated in FIG. 1, at least a part of the ranging area of a plurality of ranging units overlaps with each other.

Second condition: The passing region of the laser beam emitted by a plurality of ranging units interferes within the ranging region. In the example shown in FIG. 6, the passing region of the laser beam emitted by the right ranging unit 10R and the passing region of the laser beam irradiated by the front ranging unit 10F interfere with each other in the ranging region (not shown).

Third condition: The object boundary surface is present in the interfering region of the passing region of the irradiated laser beam. In the example shown in FIG. 7, the object boundary surface C exists in the region where the passing region of the laser beam irradiated by the right ranging unit 10R and the passing region of the laser beam irradiated by the front ranging unit 10F interfere with each other. .. In FIG. 7, the passing region of the laser beam is simply shown as a straight line.

The passing region of the laser beam irradiated by the ranging unit is a region extending along the irradiation direction of the laser beam, and is a region through which the laser beam passes when the laser beam is irradiated, that is, the same width as the laser beam. It is an area having. For example, when a pulsed laser beam is irradiated, the region is specified not only in the on period of the pulse wave but also in the off period.

When the above three conditions are overlapped, when the laser beam emitted by one of the plurality of distance measuring units is reflected by an object existing in the overlapping portion of the distance measuring region, the other measuring unit is used. It may receive light. For example, FIG. 8 shows a light receiving waveform of a laser beam received by the right ranging unit 10R. In FIG. 8, the horizontal axis indicates the time when the timing at which the front ranging unit 10F irradiates the laser beam is 0, and the vertical axis indicates the intensity of the received reflected light. In this example, since the front ranging unit 10F receives the reflected light of the laser light emitted by the right ranging unit 10R first, the front ranging unit 10F receives the reflected light of the laser light emitted by the front ranging unit 10F. The received waveform _WR of the reflected light of the laser beam irradiated by the right ranging unit _10R before the waveform WF is detected. Since the distance to the object is measured by the difference between the timing at which the laser beam is irradiated and the timing at which the reflected light is received, in this case, the front ranging unit 10F makes a false measurement that the distance to the object is shorter than the actual distance. It will be a distance.

Of the above three conditions, the first condition is difficult to avoid for design reasons. Further, it is difficult to take measures against the above third condition because of an external factor. Therefore, in the distance measuring device 1 of the present embodiment, the control unit 20 controls each distance measuring unit so that the second condition is not satisfied. Specifically, the control unit 20 sets the start timing at which each ranging unit starts scanning the laser light so that the passing region of the laser light emitted by the plurality of ranging units does not interfere in the ranging region. Control. The conditions for the start timing differ depending on the arrangement relationship of each ranging unit.

Hereinafter, the start timing conditions according to the arrangement relationship between the two ranging units will be described. The range-finding unit 10A and the range-finding unit 10B shown in FIG. 9 are any two range-finding units arranged so that a part of the range-finding area overlaps with each other among the three range-finding units mounted on the vehicle 100. It is a department. The meanings of the reference numerals shown in FIG. 9 are as follows, and the positions and angles are specified in a plan view from the direction of the rotation axis of the deflection member 13 included in the distance measuring unit 10A or the distance measuring unit 10B. In the present embodiment, the rotation axes of the deflection member 13 included in the distance measuring unit 10A and the distance measuring unit 10B are parallel. However, the orientation of the rotation axes does not necessarily have to be parallel, and may be, for example, an orientation close to parallel.

_DA ... Reference direction of the ranging unit 10A DB ... Reference direction of the ranging unit _10B S _A ... Starting direction of scanning of the laser beam by the ranging unit 10A _SB ... Starting direction of scanning of the laser beam by the ranging unit 10B _{PA ... Starting point position where the laser beam in the deflection member 13 of the ranging unit 10A is deflected P B ...} Starting position position where the laser beam is deflected in the deflection member 13 of the ranging unit 10B _LA ... Starting position position P _A straight line passing through A and parallel to the reference direction _{D A} γ _A … The starting angle γ _B … the angle of the starting direction S _A with the reference direction _{D A} as 0 A certain start angle γ _d … Placement deviation angle which is the angle of the reference direction D _B where the reference direction D _A is 0 γ _{B_A} … The opening angle which is the angle of the start direction S _B where the reference direction D _A is 0 The reference direction is the direction defined as a design standard. For example, when a transmission window that transmits laser light is provided, it is generally the direction of the front surface of the transmission window, specifically, the direction of the normal of the center or the vicinity thereof on the surface of the transmission window. .. In this embodiment, the reference azimuth coincides with the azimuth of the center of the angular range in which the laser beam is scanned during the ranging period.

The values of the start angles γ _A , γ _B , the misalignment angle γ _d , and the opening angle γ _{B_A} increase as they face the scanning direction side of the ranging unit 10A, and are positive values on the scanning direction side of the respective reference directions. It takes a negative value on the side opposite to the scanning direction side.

As shown in FIG. 10, the start timing conditions are classified into six conditions according to the arrangement relationship between the distance measuring unit 10A and the distance measuring unit 10B. Hereinafter, these six conditions will be described based on six types of arrangement examples.

(First arrangement example)
As shown in FIG. 11, in the first arrangement example, the starting point position P _B is on the opposite side of the reference straight line _LA in the scanning direction of the ranging unit 10A, and the relationship between the starting angle γ _A and the opening angle γ _{B_A} . Is an example in which the ranging unit 10A and the ranging unit 10B are arranged so that γ _{B_A} <γ _A. In the first arrangement example shown in FIG. 11, the distance measuring unit 10A and the distance measuring unit 10B are arranged so that the reference direction _DA and the reference direction D _B are parallel to each other. It is not a condition of the arrangement example.

FIG. 12 shows changes in the rotation angle θ _A of the deflection member 13 of the distance measuring unit 10A and the rotation angle θ _{B_A} of the deflection member 13 of the distance measuring unit 10B in the first arrangement example. Both the rotation angle θ _A and the rotation angle θ _{B_A} are represented by angles where the rotation angle at which the laser beam is applied to the reference direction _DA is 0. Further, the values of the rotation angle θ _A and the rotation angle θ _{B_A} increase in the distance measurement period and decrease in the non-range measurement period. The non-range-finding period of the range-finding unit 10A and the range-finding unit 10B is indicated by the non-range-finding period α and the non-range-finding period β, respectively.

The control unit 20 has a deflection provided by the distance measuring unit 10A or the distance measuring unit 10B in order to prevent the passing region of the laser beam emitted by the distance measuring unit 10A and the distance measuring unit 10B from interfering with each other in the distance measuring region. A common reference direction D of the irradiation direction of the laser light emitted by the distance measuring unit 10A and the irradiation direction of the laser light emitted by the distance measuring unit 10B in a plan view seen from the direction of the rotation axis of the member 13. Distance measurement processing by the distance measuring unit 10A and the distance measuring unit 1 so that the magnitude relationship of the angle with respect to _A is not reversed.
Distance measurement processing by 0 is executed. When the magnitude relationship of the angles is reversed, when the two angles are θ1 and θ2, respectively, the state of θ1> θ2 changes to the state of θ1 <θ2, or the state of θ1 <θ2 changes to the state of θ1> θ2. It means to become. The change from the state of θ1 = θ2 to the state of θ1> θ2 or θ1 <θ2, and the change from the state of θ1> θ2 or θ1 <θ2 to the state of θ1 = θ2 are events in which the magnitude relationship of the angles is reversed. Not included.

Since the angle of the irradiation direction of the laser beam emitted by the distance measuring unit 10A and the distance measuring unit 10B with respect to the reference direction _DA is indicated by the rotation angle θ _A and the rotation angle θ _{B_A} during the distance measurement period, the control unit 20 Is the distance measuring unit 10A so that the magnitude relationship between the values of the rotation angle θ _A and the rotation angle θ _{B_A} is not reversed in the co-range measuring state in which both the distance measuring unit 10A and the distance measuring unit 10B are in the distance measuring period. And the distance measuring process by the distance measuring unit 10 are executed. When the starting point position P _B is on the opposite side of the scanning direction of the distance measuring unit 10A from the reference straight line LA, the rotation angle θ _{B_A} exceeds the value of the rotation angle θ _A in the co _- distance measuring state as shown in FIG. It's okay if it doesn't exist. The magnitude of the rotation angle θ _{B_A} with respect to the rotation angle θ _A increases as the timing at which the ranging unit 10B starts scanning the laser beam with respect to the timing at which the ranging unit 10A starts scanning the laser beam becomes earlier. However, in the first arrangement example, the opening angle γ _{B_A} is smaller than the starting angle γ _A. Therefore, as long as the rotation angle θ _{B_A} does not exceed the rotation angle θ _A , the timing at which the ranging unit 10B starts scanning the laser beam can be accelerated. On the other hand, if the timing at which the ranging unit 10B starts scanning the laser beam is delayed too much and the ranging period of the ranging unit 10A starts before the ranging period of the ranging unit 10B ends, the rotation angle θ _{B_A} exceeds the rotation angle θ _A. Therefore, it is necessary to prevent the delay in the timing at which the distance measuring unit 10B starts scanning the laser beam from being larger than the non-distance measuring period β of the distance measuring unit 10B.

Therefore, in the first arrangement example, the control unit 20 sets the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing at which the distance measuring unit 10A starts scanning the laser light, −Φ≤t≤β. Control to the range of. Here, Φ is a period required for rotationally moving the angle formed by the starting direction S _A and the starting direction S _B at the distance measuring angular velocity. As a result, it is possible to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B.

The arrangement example shown in FIG. 9 is another example of the first arrangement example. In the first arrangement example shown in FIG. 11, the reference direction _DA and the reference direction D _B are parallel to each other, but in the first arrangement example shown in FIG. 9, the reference direction D _A is measured more than the reference direction D _B. It faces the scanning direction side of the distance portion 10A.

FIG. 13 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the first arrangement example shown in FIG. Similar to the first arrangement example shown in FIG. 11, in the co-distance measurement state, the rotation angle θ _{B_A} determines the rotation angle θ _A so that the magnitude relationship between the values of the rotation angle θ _A and the rotation angle θ _{B_A} does not reverse. It should not exceed. Therefore, as in the first arrangement example shown in FIG. 11, the control unit 20 controls the timing t within the range of −Φ ≦ t ≦ β, and the laser irradiated by the distance measuring unit 10A and the distance measuring unit 10B. It is possible to suppress the interference of the light passing region.

(Second arrangement example)
As shown in FIG. 14, in the second arrangement example, the starting point position P _B is on the opposite side of the reference straight line _LA in the scanning direction of the ranging unit 10A, and the relationship between the starting angle γ _A and the opening angle γ _{B_A} . Is an example in which the ranging unit 10A and the ranging unit 10B are arranged so that γ _{B_A} = γ _A.

FIG. 15 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the second arrangement example. In the second arrangement example, the opening angle γ _{B_A} is equal to the starting angle γ _A. Therefore, it is necessary to delay the timing at which the ranging unit 10B starts scanning the laser beam at the same time as or later than the timing at which the ranging unit 10A starts scanning the laser beam. On the other hand, if the timing at which the ranging unit 10B starts scanning the laser beam is delayed too much and the ranging period of the ranging unit 10A starts before the ranging period of the ranging unit 10B ends, the rotation angle θ _{B_A} exceeds the rotation angle θ _A. Therefore, it is necessary to prevent the delay in the timing at which the distance measuring unit 10B starts scanning the laser beam from being larger than the non-distance measuring period β of the distance measuring unit 10B.

Therefore, in the second arrangement example, the control unit 20 sets the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing when the distance measuring unit 10A starts scanning the laser light with 0 ≦ t ≦ β. Control to range. As a result, it is possible to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B.

(Third arrangement example)
As shown in FIG. 16, in the third arrangement example, the starting point position P _B is on the opposite side of the reference straight line _LA in the scanning direction of the ranging unit 10A, and the relationship between the starting angle γ _A and the opening angle γ _{B_A} . Is an example in which the ranging unit 10A and the ranging unit 10B are arranged so that γ _{B_A} > γ _A. In the third arrangement example shown in FIG. 16, the distance measuring unit 10A and the distance measuring unit _10B are arranged so that the reference direction _DA faces the scanning direction side of the distance measuring unit 10A with respect to the reference direction DB. However, this is not a condition of the third arrangement example.

FIG. 17 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the third arrangement example. In the third arrangement example, the opening angle γ _{B_A} is larger than the starting angle γ _A. Therefore, it is necessary to delay the timing at which the ranging unit 10B starts scanning the laser beam so that the rotation angle θ _{B_A} does not exceed the rotation angle θ _A. On the other hand, if the timing at which the ranging unit 10B starts scanning the laser beam is delayed too much and the ranging period of the ranging unit 10A starts before the ranging period of the ranging unit 10B ends, the rotation angle θ _{B_A} exceeds the rotation angle θ _A. Therefore, it is necessary to prevent the delay in the timing at which the distance measuring unit 10B starts scanning the laser beam from being larger than the non-distance measuring period β of the distance measuring unit 10B.

Therefore, in the third arrangement example, the control unit 20 sets the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing when the distance measuring unit 10A starts scanning the laser light with Φ≤t≤β. Control to range. As a result, it is possible to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B.

The arrangement example shown in FIG. 18 is another example of the third arrangement example. In the third arrangement example shown in FIG. 16, the reference direction DA faces the scanning direction side of the distance measuring unit 10A with respect to the reference direction _{D B ,} but in the third arrangement example shown in FIG. 18, the reference direction D _B faces the scanning direction side of the ranging unit 10A with respect to the reference direction _DA .

FIG. 19 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the third arrangement example shown in FIG. Similar to the third arrangement example shown in FIG. 16, the control unit 20 controls the timing t within the range of Φ ≦ t ≦ β, so that the laser light emitted by the distance measuring unit 10A and the distance measuring unit 10B passes through. It is possible to suppress the interference of the regions.

(4th arrangement example)
As shown in FIG. 20, in the fourth arrangement example, the starting point position P _B is on the scanning direction side of the distance measuring unit 10A with respect to the reference straight line _{LA, and the relationship between the starting angle γ A and the opening angle γ B_A is γ} . This is an example in which the ranging unit 10A and the ranging unit 10B are arranged so that _{B_A} <γ _A. In the fourth arrangement example shown in FIG. 20, the distance measuring unit 10A and the distance measuring unit 10B are arranged so that the reference direction _DA and the reference direction D _B are parallel to each other. It is not a condition of the arrangement example.

The control unit 20 has a deflection provided by the distance measuring unit 10A or the distance measuring unit 10B in order to prevent the passing region of the laser beam emitted by the distance measuring unit 10A and the distance measuring unit 10B from interfering with each other in the distance measuring region. A common reference direction D of the irradiation direction of the laser light emitted by the distance measuring unit 10A and the irradiation direction of the laser light emitted by the distance measuring unit 10B in a plan view seen from the direction of the rotation axis of the member 13. Distance measurement processing by the distance measuring unit 10A and the distance measuring unit 1 so that the magnitude relationship of the angle with respect to _A is not reversed.
Distance measurement processing by 0 is executed. Specifically, the control unit 20 uses the distance measurement process by the distance measurement unit 10A and the distance measurement unit 10 so that the magnitude relationship between the values of the rotation angle θ _A and the rotation angle θ _{B_A} does not reverse in the co-distance measurement state. Execute distance measurement processing.

FIG. 21 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the fourth arrangement example. When the starting point position P _B is on the scanning direction side of the distance measuring unit 10A with respect to the reference straight line LA, the rotation angle θ _{B_A} does not have to be _{less than the rotation angle θ A as} shown in FIG. In the fourth arrangement example, the opening angle γ _{B_A} is larger than the starting angle γ _A. Therefore, it is necessary to advance the timing at which the ranging unit 10B starts scanning the laser beam so that the rotation angle θ _{B_A} does not fall below the rotation angle θ _A. On the other hand, if the timing at which the ranging unit 10B starts scanning the laser beam is too early and the ranging period of the ranging unit 10B starts before the ranging period of the ranging unit 10A ends, the rotation angle θ. _{B_A}
Is less than the rotation angle θ _A. Therefore, it is necessary to prevent the lead of the timing at which the distance measuring unit 10B starts scanning the laser beam from being larger than the non-distance measuring period α of the distance measuring unit 10A.

Therefore, in the fourth arrangement example, the control unit 20 sets the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing at which the distance measuring unit 10A starts scanning the laser light, −α ≦ t ≦ −. Control within the range of Φ. As a result, it is possible to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B.

The arrangement example shown in FIG. 22 is another example of the fourth arrangement example. In the fourth arrangement example shown in FIG. 20, the reference direction _DA and the reference direction D _B are parallel to each other, but in the fourth arrangement example shown in FIG. 22, the reference direction D _A is measured more than the reference direction D _B. It faces the scanning direction side of the distance portion 10A.

FIG. 23 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the fourth arrangement example shown in FIG. 22. Similar to the fourth arrangement example shown in FIG. 20, the control unit 20 controls the timing t within the range of −α ≦ t ≦ −Φ, so that the laser beam emitted by the distance measuring unit 10A and the distance measuring unit 10B is emitted. It is possible to suppress the interference of the passing region of the light.

The fourth arrangement example can also be regarded as an arrangement example in which the arrangements of the distance measuring unit 10A and the distance measuring unit 10B in the third arrangement example are exchanged. That is, the fourth arrangement example is substantially the same as the third arrangement example.

(Fifth arrangement example)
As shown in FIG. 24, in the fifth arrangement example, the starting point position P _B is on the scanning direction side of the distance measuring unit 10A with respect to the reference straight line _{LA, and the relationship between the starting angle γ A and the opening angle γ B_A is γ} . This is an example in which the ranging unit 10A and the ranging unit 10B are arranged so that _{B_A} = γ _A.

FIG. 25 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the fifth arrangement example. In the fifth arrangement example, the opening angle γ _{B_A} is equal to the starting angle γ _A. Therefore, it is necessary to set the timing at which the ranging unit 10B starts scanning the laser beam at the same time as or earlier than the timing at which the ranging unit 10A starts scanning the laser beam. On the other hand, if the timing at which the ranging unit 10B starts scanning the laser beam is too early and the ranging period of the ranging unit 10B starts before the ranging period of the ranging unit 10A ends, the rotation angle θ. _{B_A} falls below the rotation angle θ _A. Therefore, it is necessary to prevent the lead of the timing at which the distance measuring unit 10B starts scanning the laser beam from being larger than the non-distance measuring period α of the distance measuring unit 10A.

Therefore, in the fifth arrangement example, the control unit 20 sets the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing when the distance measuring unit 10A starts scanning the laser light with −α ≦ t ≦ 0. Control to the range of. As a result, it is possible to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B.

The fifth arrangement example can also be regarded as an arrangement example in which the arrangements of the distance measuring unit 10A and the distance measuring unit 10B in the second arrangement example are exchanged. That is, the fifth arrangement example is substantially the same as the second arrangement example.

(6th arrangement example)
As shown in FIG. 26, in the sixth arrangement example, the starting point position P _B is on the scanning direction side of the distance measuring unit 10A with respect to the reference straight line _{LA, and the relationship between the starting angle γ A and the opening angle γ B_A is γ} . This is an example in which the ranging unit 10A and the ranging unit 10B are arranged so that _{B_A} > γ _A. In the sixth arrangement example shown in FIG. 26, the distance measuring unit 10A and the measuring unit 10A are measured so that the relationship between the start angle γ _B , the arrangement deviation angle γ _d , and the opening angle γ _{B_A} is γ _{B_A} = γ _B − γ _d . The distance portion 10B is arranged, but this is not a condition of the sixth arrangement example.

FIG. 27 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the sixth arrangement example. In the sixth arrangement example, the opening angle γ _{B_A} is smaller than the starting angle γ _A. Therefore, the timing at which the ranging unit 10B starts scanning the laser beam can be delayed as long as the rotation angle θ _{B_A} does not fall below the rotation angle θ _A. On the other hand, if the timing at which the ranging unit 10B starts scanning the laser beam is too early and the ranging period of the ranging unit 10B starts before the ranging period of the ranging unit 10A ends, the rotation angle θ. _{B_A} falls below the rotation angle θ _A. Therefore, it is necessary to prevent the lead of the timing at which the distance measuring unit 10B starts scanning the laser beam from being larger than the non-distance measuring period α of the distance measuring unit 10A.

Therefore, in the sixth arrangement example, the control unit 20 sets the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing when the distance measuring unit 10A starts scanning the laser light with −α ≦ t ≦ Φ. Control to the range of. As a result, it is possible to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B.

The arrangement example shown in FIG. 28 is another example of the sixth arrangement example. In the sixth arrangement example shown in FIG. 26, the relationship between the start angle γ _B , the arrangement deviation angle γ _d , and the opening angle γ _{B_A} is γ _{B_A} = γ _B − γ _d . The relationship between the start angle γ _B , the misalignment angle γ _d , and the opening angle γ _{B_A} is γ _{B_A} = γ _d − γ _B.

FIG. 29 shows changes in the rotation angle θ _A and the rotation angle θ _{B_A} in the sixth arrangement example shown in FIG. 28. Similar to the sixth arrangement example shown in FIG. 26, the control unit 20 controls the timing t within the range of −α ≦ t ≦ Φ, so that the laser light emitted by the distance measuring unit 10A and the distance measuring unit 10B can be used. It is possible to suppress the interference of the passing region.

The sixth arrangement example can also be regarded as an arrangement example in which the arrangements of the distance measuring unit 10A and the distance measuring unit 10B in the first arrangement example are exchanged. That is, the sixth arrangement example is substantially the same as the first arrangement example.

[1-5. Configuration to disperse the scanning timing of multiple ranging units]
The control unit 20 of the present embodiment not only suppresses erroneous distance measurement as described above, but also controls each distance measurement unit so as to disperse the scanning timings of the plurality of distance measurement units. Specifically, the control unit 20 controls each distance measuring unit so that the timing at which the angular velocity of the deflection member 13 is changed differs between the distance measuring units. Further, the control unit 20 controls each distance measuring unit so that at least a part of the period in which the angular velocity of the deflection member 13 is the fastest does not overlap with each other in the distance measuring unit. In the following, the description is made on the premise that there are two ranging units, but the same applies to the case where there are three or more ranging units.

[1-5-1. Configuration for different switching timings of multiple ranging units]
In the distance measuring process of the present embodiment, the distance measuring period and the non-distance measuring period are alternately repeated. Therefore, as shown in FIG. 30, the rotation angle θ _A of the deflection member 13 of the ranging unit 10A and the ranging unit 1
The rotation angle θ _B of the deflection member 13 of 0B increases during the ranging period and decreases during the non-range measuring period. The rotation angle θ _B is represented by an angle at which the rotation angle at which the laser beam is applied to the reference direction D _B is 0. At the timing at which the control unit 20 changes the angular velocity of the deflection member 13, in other words, at the switching timing at which the distance measurement period and the non-range measurement period are switched, the value I of the current flowing through the drive unit 12 of the distance measurement unit 10A. The value I _B of the current flowing through _A and the drive unit 12 of the ranging unit 10B increases instantaneously. Therefore, as shown in FIG. 30, when the switching timings of the plurality of ranging units overlap and the peaks of the instantaneous currents overlap, the instantaneous current of the entire vehicle 100 increases, and the electric signal output by the light receiving unit 14 or the like increases. Causes noise. Further, in the power supply design of the entire vehicle 100, a redundant design will be made based on the overlapping instantaneous currents.

Therefore, as shown in FIG. 31, the control unit 20 controls the plurality of distance measuring units so that the switching timings differ from each other in the plurality of distance measuring units, that is, the switching timings deviate from each other. By such control, the peaks of the instantaneous currents are less likely to overlap, and the increase of the instantaneous currents in the entire vehicle 100 is suppressed.

[1-5-2. Configuration to make it difficult to overlap during the period when the angular velocity of the deflection member is the fastest]
During the period when the angular velocity of the deflection member 13 is the fastest, the value I _A of the current flowing through the drive unit 12 of the distance measuring unit 10A and the value I _B of the current flowing through the driving unit 12 of the distance measuring unit 10B are larger than those during the other periods. Become. As shown in FIG. 30, in the present embodiment, the ranging unit is controlled so that the angular velocity of the deflection member 13 during the non-ranging period is faster than the ranging angular velocity. That is, in the present embodiment, the non-distance measuring period is the period in which the angular velocity of the deflection member 13 is the fastest. In this case, during the non-distance measuring period, the value I _A of the current flowing through the driving unit 12 of the ranging unit 10A and the value I _B of the current flowing through the driving unit 12 of the ranging unit 10B are larger than those during the ranging period. .. Therefore, for example, as shown in FIG. 30, when the non-distance measuring periods of the plurality of ranging units overlap, the current in the entire vehicle 100 increases, and noise is generated in the electric signal or the like output by the light receiving unit 14. It causes. Further, in the power supply design of the entire vehicle 100, a redundant design will be made based on the overlapping instantaneous currents.

Therefore, as shown in FIG. 31, in the present embodiment, the control unit 20 controls a plurality of distance measuring units so that at least a part of the non-distance measuring period does not overlap with each other in the plurality of distance measuring units. For example, when the lengths of the non-distance measuring periods are different between the two distance measuring units, it is inevitable that at least a part of the longer non-distance measuring period does not overlap with the shorter non-distance measuring period. Therefore, in such an example, it means that at least a part of the shorter non-range-finding period does not overlap with the longer non-range-finding period. By such control, the increase of the current in the entire vehicle 100 is suppressed.

[1-6. effect]
According to the embodiment described in detail above, the following effects can be obtained.
(1a) The distance measuring device 1 executes the distance measuring process by each distance measuring unit so that the passing region of the laser beam emitted by the plurality of distance measuring units does not interfere in the distance measuring region. According to such a configuration, it is possible to prevent the distance to the object from being erroneously measured by a plurality of ranging units in which a part of the ranging area overlaps with each other. In particular, since the ranging device 1 executes the ranging processing by each ranging unit in parallel, all the measurements are compared with the configuration in which the ranging processing by each ranging unit is executed in order so as not to be parallel. The time required to complete the distance measurement process for the distance area can be shortened.

(1b) The distance measuring device 1 is a plan view seen from the direction of the rotation axis of the deflection member 13 included in the distance measuring unit 10A or the distance measuring unit 10B, and the irradiation direction of the laser light emitted by the distance measuring unit 10A. Distance measurement processing by the distance measurement unit 10A and distance measurement processing by the distance measurement unit 10 so that the magnitude relationship between the irradiation direction of the laser beam emitted by the distance measurement unit 10B and the angle with respect to the common reference direction _DA is not reversed. And to execute. According to such a configuration, it is possible to suppress the interference of the passing region of the laser beam irradiated by the plurality of ranging units in the ranging region.

(1c) The distance measuring device 1 executes the distance measuring process by each distance measuring unit so that the distance measuring cycles are the same. According to such a configuration, for example, by controlling the timing at which the scanning of the laser beam is started, the irradiation direction of the laser beam emitted by the ranging unit 10A and the irradiation of the laser beam emitted by the ranging unit 10B are performed. It is possible to set the phase difference of the ranging cycle by each ranging unit so that the magnitude relationship between the orientation and the angle with respect to the common reference orientation _DA is not reversed.

(1d) The range-finding cycle includes a non-range-finding period. According to such a configuration, while suppressing the interference of the passing region of the laser beam irradiated by the plurality of ranging units in the ranging region, it is possible to design parameters such as the timing at which the scanning of the laser beam is started. The degree of freedom can be increased.

(1e) The ranging device 1 determines the rotation angle of the deflection member 13 of the ranging section arranged on the scanning direction side of the two ranging sections arranged so that a part of the ranging area overlaps with each other. The timing at which each ranging unit starts scanning the laser beam is controlled so that the rotation angle of the deflection member 13 of the ranging unit arranged on the side opposite to the scanning direction side does not exceed the rotation angle. According to such a configuration, it is possible to suppress the interference of the passing region of the laser beam irradiated by the plurality of ranging units in the ranging region.

(1f) The distance measuring device 1 controls a plurality of distance measuring units so that the switching timing is different from each other in the plurality of distance measuring units. According to such a configuration, it is possible to suppress the overlap of the peaks of the instantaneous currents and suppress the increase of the instantaneous currents in the entire vehicle 100.

(1g) The ranging device 1 controls a plurality of ranging units so that at least a part of the period in which the angular velocity of the deflection member 13 is the fastest does not overlap with each other in the plurality of ranging units. According to such a configuration, it is possible to suppress the overlap of the peaks of the instantaneous currents and suppress the increase in the current in the entire vehicle 100.

[2. Second Embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, the description of the common configuration will be omitted, and the differences will be mainly described. It should be noted that the same reference numerals as those in the first embodiment indicate the same configurations, and the preceding description and drawings in the present specification are referred to.

In the second embodiment, as in the first embodiment, the control unit 20 causes each distance measuring unit to execute the distance measuring process so that the scanning direction and the distance measuring cycle are the same. However, in the second embodiment, the control unit 20 executes the distance measurement process by each distance measurement unit so that the distance measurement angular velocities are different.

In the second embodiment, the distance measuring unit 10A and the distance measuring unit 10B are arranged as shown in FIG. However, the ranging angular velocity ω _B of the ranging unit 10B is larger than the ranging angular velocity ω _A of the ranging unit 10A. As shown in FIG. 32, in order to suppress the interference of the passing region of the laser beam emitted by the ranging unit 10A and the ranging unit 10B in the ranging region, in the period TA during the co-distance measuring state, as shown in FIG. It is necessary to prevent the rotation angle θ _{B_A} from exceeding the rotation angle θ _A. In FIG. 32, the ranging angular velocity ω _A and the ranging angular velocity ω _B are shown by the slopes of straight lines indicating the values of θ _A and θ _{B_A} in the ranging period of the ranging unit 10A and the ranging unit 10B, respectively. The difference between the rotation angle θ _A and the rotation angle θ _{B_A decreases} more rapidly as the distance measurement angular velocity ω _B of the distance measurement unit 10B is faster than the distance measurement angular velocity ω _A of the distance measurement unit 10A. In addition, the longer the TA during the co-distance measurement state, the smaller the difference between the rotation angle θ _A and the rotation angle θ _{B_A} .

Therefore, in the control unit 20, the period TA in which the co-distance measuring state is set is the second angle formed by the irradiation directions of the distance measuring unit 10A and the distance measuring unit 10B at the start of the co-distance measuring state in the co-distance measuring state. The range-finding angular velocity ω _A of the range-finding unit 10A and the range-finding angular velocity ω _B of the range-finding unit 10B are controlled so as to be equal to or less than the value divided by the difference in the range-finding angular velocity between the range-finding unit and the first range-finding unit. do.

Further, if the timing at which the ranging unit 10B starts scanning the laser beam is delayed too much and the ranging period of the ranging unit 10A starts before the ranging period of the ranging unit 10B ends, the rotation angle θ. _{B_A} exceeds the rotation angle θ _A. Further, by setting the timing at which the ranging unit 10B starts scanning the laser beam too early, even if the ranging period of the ranging unit 10B starts before the ranging period of the ranging unit 10A ends, the rotation is performed. The angle θ _{B_A} exceeds the rotation angle θ _A.

Therefore, in the control unit 20, the lower limit of the timing at which the ranging unit 10B starts scanning the laser beam with respect to the timing at which the ranging unit 10A starts scanning the laser beam is a value indicating the non-distance measuring period of the ranging unit 10A. The value is controlled so that the value is within the range in which the value representing the non-distance measuring period of the ranging unit 10B is the upper limit value. That is, the control unit 20 controls the timing t at which the distance measuring unit 10B starts scanning the laser light with respect to the timing at which the distance measuring unit 10A starts scanning the laser light within the range of α ≦ t ≦ β.

For example, when the ranging unit 10A and the ranging unit 10B simultaneously start scanning the laser beam, the control unit 20 determines that the relationship between the ranging angular velocity ω _A and the ranging angular velocity ω _B is TA ≦ | γ _{B_A} −.
The ranging angular velocity ω _A and the ranging section 10B of the ranging section 10A so as to be γ _A | / (ω _B −ω _A ).
Controls the ranging angular velocity ω _B.

As a result, it is possible to prevent the passing region of the laser beam emitted by the ranging unit 10A and the ranging unit 10B from interfering with each other in the ranging region.
[3. Other embodiments]
Although the embodiments of the present disclosure have been described above, it is needless to say that the present disclosure is not limited to the above-described embodiments and can take various forms.

(3a) In each of the above embodiments, a configuration in which distance measurement processing is executed by each distance measurement unit is exemplified so that at least the scanning direction and the distance measurement cycle are the same, but at least one of these is different. You may. For example, the distance measurement cycles may be different.

(3b) In each of the above embodiments, the configuration in which the control unit 20 has both a function of controlling the operation of each distance measuring unit and a function of comprehensively controlling the distance measuring process by each distance measuring unit is illustrated. The configuration of the control unit 20 is not limited to this. For example, the function of controlling the operation of each ranging unit may be distributed to each ranging unit. For example, in this case, the function of comprehensively controlling the ranging process by each ranging unit may be realized by communicating between the control units provided in each ranging unit, or may be realized separately from those control units. It may be realized by the control unit of.

(3c) In each of the above embodiments, the distance measuring units are arranged side by side in the scanning direction, but as shown in FIG. 33, the distance measuring unit 10A and the distance measuring unit 10B are the rotation axes of the deflection member 13. They may be arranged side by side along the direction of. In this case, each ranging unit is arranged so that a part of the ranging region and another ranging unit arranged adjacent to each other overlap each other in the direction of the rotation axis of the deflection member 13. In the example shown in FIG. 33, each ranging unit scans a long laser beam along a direction in which the cross-sectional shape F is perpendicular to the scanning direction. The control unit 20 causes each ranging unit to execute the ranging processing so that the passing regions of the laser beams emitted by the plurality of ranging units do not interfere with each other at the overlapping portions of the ranging regions. For example, when the scanning direction, the distance measurement cycle, and the distance measurement angular velocity are the same, the rotation angle θ _A and the rotation angle θ _{B_A} may be different. Specifically, when the angle range in which the laser beam is scanned is the same during the ranging period, the scanning timing may be shifted. Further, when the angle range in which the laser beam is scanned is different during the ranging period, the scanning timing may be adjusted within the range in which the scanning timings do not match.

(3d) In the second embodiment, the ranging unit 10B of the ranging unit 10A and the ranging unit 10B is arranged on the side opposite to the scanning direction side of the ranging unit 10A, and measures the angular velocity ω _A. Although the configuration in which the distance angular velocity ω _B is large is illustrated, the arrangement of each distance measuring unit and the magnitude relationship between the distance measuring angular velocities are not limited to this. For example, of the ranging unit 10A and the ranging unit 10B, the ranging unit 10B may be arranged on the scanning direction side of the ranging unit 10A, and the ranging angular velocity ω _A is larger than the ranging angular velocity ω _B. You may.

(3e) In each of the above embodiments, for example, as shown in FIG. 12, the drive unit 12 has a distance measuring unit 10A and a distance measuring unit 10B so that the waveforms indicating changes in the rotation angle are both periodic waveforms. The configuration in which the deflection member 13 is rotationally moved is illustrated. Specifically, the configuration in which the waveform type is rotationally moved so as to be a triangular wave in which the ranging period and the non-ranging period are alternately repeated is exemplified, but the rotational movement of the deflection member 13 is limited to this. It's not a thing. For example, as shown in FIG. 34, the drive unit 12 may rotate and move the deflection member 13 so that the type of the waveform indicating the change in the rotation angle is a sine wave. In this example, the entire ranging cycle is the ranging period. For example, when the distance measuring period is the same, the sine wave indicating the change in the rotation angle of the deflection member 13 of the distance measuring unit 10A and the distance measuring unit 10B is represented by the following equations (1) and (2), respectively. To.

Here, ω is the angular velocity ω of the deflection member 13 of the ranging unit 10A and the ranging unit 10B, t is the time, and θ is the phase difference θ between θ _A and θ _{B_A} .
When the ranging unit 10A and the ranging unit 10B are arranged as shown in FIG. 9, in order to suppress interference between the passing regions of the laser light emitted by the ranging unit 10A and the ranging unit 10B, the distance measuring unit 10A and the ranging unit 10B are arranged. It is sufficient that the rotation angle θ _{B_A} does not exceed the value of the rotation angle θ _A in the co-distance measurement state. Therefore, it is sufficient that the relation of the following equation (3) is satisfied, and therefore θ may be set so that the relation of the following equation (4) is satisfied.

Further, for example, as shown in FIG. 35, the drive unit 12 may rotate and move the deflection member 13 of the distance measuring unit 10A and the distance measuring unit 10B so that the types of waveforms indicating changes in the rotation angle are different from each other. As shown in FIG. 36, the rotation may be performed so as not to have periodicity.

(3f) In each of the above embodiments, the drive unit 12 is configured to swing the deflection member 13, but may be configured to rotate the deflection member 13.
(3g) In each of the above embodiments, a configuration is exemplified in which control is executed so that the passing region of the laser beam irradiated by the plurality of ranging units does not interfere not only in the ranging region but also outside the ranging region. However, it may be allowed that the passing region of the laser beam interferes outside the ranging region.

(3h) In each of the above embodiments, a configuration is exemplified in which the three ranging units are arranged so as to have a ranging region in front of the periphery of the vehicle 100, but the number and arrangement of the ranging units are limited to this. It is not something that will be done. For example, the number of ranging units may be two or four or more, and each ranging unit may be arranged so as to have a ranging region behind the periphery of the vehicle 100.

(3i) In each of the above embodiments, the distance measuring device 1 mounted on the vehicle 100 is exemplified, but the application of the distance measuring device is not limited to this. For example, a distance measuring device may be mounted on a moving body other than a vehicle, specifically, a flying body such as a drone.

(3j) In each of the above embodiments, the configuration in which the drive unit 12 is a motor is exemplified, but the configuration of the drive unit 12 is not limited to this. For example, the drive unit 12 may be MEMS. MEMS is an abbreviation for Micro-Electrical-Mechanical System.

(3k) In each of the above embodiments, the configuration in which the mirror is used as the deflection member 13 is exemplified, but another deflection member capable of deflecting the laser beam, for example, a prism may be used.
(3l) The configuration of the distance measuring unit shown in FIG. 3 is an example, and may be another configuration. For example, the laser light from the light projecting unit 11 passes through the half mirror and is applied to the deflection member 13, and the reflected light from the deflection member 13 is reflected by the half mirror and received by the light receiving unit 14. A ranging unit may be configured.

(3m) The functions of one component in the above embodiment may be dispersed as a plurality of components, or the functions of the plurality of components may be integrated into one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or substituted with respect to the other configurations of the above embodiment.

1 ... ranging device, 10A, 10B ... ranging unit, 10F ... front ranging unit, 10L ... left ranging unit, 10R ... right ranging unit, 11 ... light projecting unit, 12 ... driving unit, 13 ... deflection member , 14 ... Light receiving unit, 20 ... Control unit.

Claims (10)

With multiple ranging units (10A, 10B, 10F, 10L, 10R),
A control unit (20) configured to control the plurality of distance measuring units,
Equipped with
Each of the plurality of ranging units is provided with a deflection member that deflects the laser beam, and by rotating or swinging the deflection member, the irradiation direction of the laser beam to be irradiated is changed within a predetermined ranging area. It is configured to be capable of performing distance measurement processing that scans the laser beam and measures the distance to an object existing in the irradiation direction based on the reflected light received from the same direction as the irradiation direction.
The plurality of ranging units include a first ranging unit and a second ranging unit in which a part of the ranging area overlaps with each other.
The control unit has a first passing region, which is a region through which the laser light emitted by the first ranging unit passes, and a second region, which is a region through which the laser light emitted by the second ranging unit passes. Distance measurement in which the distance measurement process by the first distance measurement unit and the distance measurement process by the second distance measurement unit are executed in parallel so that the passing area does not interfere with the distance measurement area. Device. The ranging device according to claim 1.
The control unit is a laser beam emitted by the first distance measuring unit in a plan view seen from the direction of the rotation axis of the deflection member included in the first distance measuring unit or the second distance measuring unit. The irradiation direction of the first distance measuring unit is used so that the magnitude relationship between the irradiation direction of the above and the irradiation direction of the laser beam emitted by the second distance measuring unit with respect to the common reference direction is not reversed. A distance measuring device that executes a distance measuring process and the distance measuring process by the second distance measuring unit. The ranging device according to claim 2.
The control unit performs the distance measurement process by the first distance measurement unit and the distance measurement process by the second distance measurement unit so that the distance measurement cycle, which is the cycle in which the distance is measured, is the same. A distance measuring device to execute. The ranging device according to claim 3.
The distance measurement cycle includes a distance measurement period, which is a period in which distance measurement is performed, and a non-distance measurement period, which is a period in which distance measurement is not performed.
In the control unit, when both the first distance measuring unit and the second distance measuring unit are in the state of the distance measuring period, the first passing region and the second passing region are within the distance measuring region. A distance measuring device that executes the distance measuring process by the first distance measuring unit and the distance measuring process by the second distance measuring unit so as not to interfere with each other. The ranging device according to claim 4.
The first control unit has the same scanning direction, which is the direction in which the laser beam is scanned, and the angular velocity, which is the angular velocity of rotation or rocking of the deflection member during the ranging period. The ranging process by the ranging unit and the ranging process by the second ranging unit are executed.
In the first ranging section and the second ranging section, the rotation axis of the deflection member of the first ranging section is more scanned than the rotation axis of the deflection member of the second ranging section. Arranged side by side along the scanning direction so as to be on the directional side,
The timing at which the second ranging unit starts scanning the laser light with respect to the timing at which the first ranging unit starts scanning the laser beam is the timing at which the first ranging unit starts scanning the laser light. The angle formed by the first start direction, which is the irradiation direction, and the second start direction, which is the irradiation direction, at which the second ranging unit starts scanning the laser beam is rotated and moved at the ranging angle speed. When the first start direction faces the scanning direction side from the second start direction, the lower limit value is a value indicating the time required for the laser, and the lower limit value is the second measurement. A distance measuring device within a range in which a value representing the non-distance measuring period of the distance portion is an upper limit value. The ranging device according to claim 2.
The control unit performs the distance measurement process by the first distance measuring unit and the second A distance measuring device that executes the distance measuring process by the distance measuring unit of the above. The distance measuring device according to claim 6.
The distance measurement cycle, which is the period in which the distance is measured, includes the distance measurement period in which the distance is measured and the non-distance measurement period in which the distance is not measured.
In the control unit, the first passing region and the second passing region are in a co-distance measuring state in which both the first distance measuring unit and the second distance measuring unit are in the state of the distance measuring period. A ranging device that executes the ranging process by the first ranging section and the ranging process by the second ranging section so as not to interfere with each other in the ranging area. The ranging device according to claim 7.
The control unit has the distance measurement process by the first distance measurement unit and the second distance measurement so that the distance measurement cycle and the scanning direction, which is the direction in which the laser beam is scanned, are the same. The distance measurement process by the unit is executed,
In the first ranging section and the second ranging section, the rotation axis of the deflection member of the first ranging section is more scanned than the rotation axis of the deflection member of the second ranging section. Arranged side by side along the scanning direction so as to be on the directional side,
The period during which the co-distance measuring state is set is the angle formed by the irradiation direction between the first ranging unit and the second ranging unit at the start of the co-distance measuring state. A distance measuring device having a value equal to or less than a value divided by the difference in the distance measuring angular velocities between the second distance measuring unit and the first distance measuring unit. The distance measuring device according to any one of claims 1 to 8.
The control unit is a distance measuring device that controls the plurality of distance measuring units so that the timing at which the angular velocity of rotation or swing of the deflection member is changed differs between the plurality of distance measuring units. The distance measuring device according to any one of claims 1 to 9.
The control unit controls the plurality of distance measuring units so that at least a part of the period in which the angular velocity of rotation or rocking of the deflection member is the fastest does not overlap with each other in the plurality of distance measuring units. ..

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